Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[nakedeye]

Rainny had zero changes to the control logic, it only had a change to fingerprint a Chinese Ford Edge.

I also changed the model, that could be it. I went back to ND for my drive home, I’ll see how it goes and video it for you if it happens again. I’m sure I’ll hit a parking lot on 476….

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[Ajzride]

Yeah no, I definitely have to set this way. I
The acc shows on DEC all the time

Turn off "openpilot longitudinal control (alpha)" and you will be back on Ford logic.

 

[nakedeye]

It could also be that that I change the model from DA to ND for my drive home when I saw it happening bad. To be honest, I don’t see much difference with the gap, never really have. The button changes it, and I see it on the screen as well, but there’s not much change in the gap in reality.

I am back on ND for my drive home and we’ll take a video if it happens again. I’m sure it will, I take 476, so.

 

[nakedeye]

Turn off "openpilot longitudinal control (alpha)" and you will be back on Ford logic.

No, I don’t want ford logic. I want the comma to do it. That’s the issue, it says ACC and the button doesn’t seem to change the gap distance. It says it does on the screen and the comma. But the gap is still there

 

[Ajzride]

It could also be that that I change the model from DA to ND for my drive home when I saw it happening bad. To be honest, I don’t see much difference with the gap, never really have. The button changes it, and I see it on the screen as well, but there’s not much change in the gap in reality.

I am back on ND for my drive home and we’ll take a video if it happens again. I’m sure it will, I take 476, so.

The gap difference is quite small actually. Gap is safebrakingdistance + deadtime + followtime. the first two are fixed, and only followtime changes, in increments of 0.5 seconds. So in reality the gap goes from 3.0 to 4.5 for the 3 settings.

 

[Ajzride]

@nakedeye please turn off experimental mode, this will at least help us identify if it is an op long tuning issues or an issue with the experimental mode logic.

 

[nakedeye]

Absolutely. We can take this to PM and I can get you more data if you need.

 

[nakedeye]

And I’ll let you know here later tonight how my drive home goes

 

[nakedeye]

Here are my settings for this also.
But I think that was the problem, dynamic mode. It’s affecting the gap now when I change it. It’s a bit large, but I think it’s much better now. Dynamic messes up. I’ll try to get a video with dynamic on so you can see it

 

[Ajzride]

Here are my settings for this also.
But I think that was the problem, dynamic mode. It’s affecting the gap now when I change it. It’s a bit large, but I think it’s much better now. Dynamic messes up. I’ll try to get a video with dynamic on so you can see it

Dynamic isn't really a bluepilot feature, that is sunnypilot. You might need to join his discord and jump into the feedback channel if you want help with that.

Edit: You would probably need to install stock sunny as well.

 

[ERM]

Ajzride - Just a few thoughts -

I spent about 12 hours last week using the previous model. It did really well! You and your team have done a fantastic job! Out of that 12 hours, the truck drove most of the time and did great!

What I noticed during that time was: I did not have any ping pong. None. And coming back through Wyoming to Utah, there was a considerably cross wind, and it still held on course. I grabbed the wheel a few times (gusts were about 40mph), but your branch did most of the work in very difficult conditions. The curvature was not an issue at 80mph. It did great! At slower speeds it had issues with cutting lane lines to accomplish turns. I do this! All the time! But I'm careful about choosing the right time to do it. No traffic or peds. I would rather the model/branch followed law.

The current branch (Stable) does the opposite - it drifts to the outer lane and beyond on slow curves. I have not run it on freeway speeds. I have High Curvature Factor (is this the right adjustment for slow curves?) set to 20% and it won't go lower, but I need it to. I need it to track to the center of the lane at max. So hug the inside lane into the curve, drift to the middle of the lane leaving the curve. I feel like it's something below what you have set as the minimum-20, but above 0.

One other issue - I get what Spiffy is talking about with Gap. When I exit on an offramp, It takes it at full speed, even though it sees the stopped car in front of me. I have all that data turned on in the display. Yes, it brakes eventually, but that isn't an appropriate response. It should see the slowing or stopped cars and begin slowing, closing the gap to what you have set, at a slower speed. Same thing for freeway speeds that slow for traffic. It wants to accomplish the set gap, but in a dangerous way. This is how my wife drives....scares the hell out of me....

 

[Ajzride]

Ajzride - Just a few thoughts -

The current branch (Stable) does the opposite -

I think you mean staging

it drifts to the outer lane and beyond on slow curves. I have not run it on freeway speeds. I have High Curvature Factor (is this the right adjustment for slow curves?) set to 20% and it won't go lower

High Curvature Factor needs to go higher, try 0.95 or 0.98 if you are drifting out of curves.

One other issue - I get what Spiffy is talking about with Gap. When I exit on an offramp, It takes it at full speed, even though it sees the stopped car in front of me. I have all that data turned on in the display. Yes, it brakes eventually, but that isn't an appropriate response. It should see the slowing or stopped cars and begin slowing, closing the gap to what you have set, at a slower speed. Same thing for freeway speeds that slow for traffic. It wants to accomplish the set gap, but in a dangerous way. This is how my wife drives....scares the hell out of me....

See my write up here on why this just isn't possible with our current limitations:

https://www.f150gen14.com/forum/thr...ecruise-alternative.19342/page-28#post-407838

High speed approaches of stopped traffic are going to require user intervention until we get better hardware.

 

[Spiffy]

Thanks for not taking this discussion off line. It's important and I'm learning from your discussion.

Let me get things straight. If I load staging , it's got the new stuff. If I turn off long I will be undercontrol of ACC just for brake, gas.

Will I still get the benefits of the other new experimental features?

Also was the eye focus turned up? I get a ton of " keep your hands on the wheel" not that it's a problem. I was just wondering.

 

[Ajzride]

Let me get things straight. If I load staging , it's got the new stuff. If I turn off long I will be undercontrol of ACC just for brake, gas.

If you load staging and turn of "openpilot longitudinal control (alpha)" then Ford will control gas and brake including the speed sign recognition.

Will I still get the benefits of the other new experimental features?

You will get all of the steering enhancement.

Also was the eye focus turned up? I get a ton of " keep your hands on the wheel" not that it's a problem. I was just wondering.

I did see Comma updated the driver monitoring to be more aware of cell phone placement.

 

[nakedeye]

It looks like they worked on better eye recognition. It seems to notice when I look away, even if my head is straight way more than it used to.

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